Many multi-fingered robot hands have been developed so far. However, there are no multi-fingered robot hands for actual use. One of the reasons is that the conventional control methods are not used for multi-fingered robot hands. A human manipulates an object by using tactile information (contact points, direction and severity of reaction force). In this paper, the tactile based control method for multi-fingered robot hands is proposed like a human manipulation. In the proposed method, 3 fingers are used for the object manipulation. By using this method, object grasping and manipulating is achieved. The proposed method is implemented in Universal Robot Hand II, and the effectiveness is verified.